CN110823182B - System and method for measuring stratum attitude of dangerous zone of unmanned aerial vehicle - Google Patents
System and method for measuring stratum attitude of dangerous zone of unmanned aerial vehicle Download PDFInfo
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- CN110823182B CN110823182B CN201911095448.5A CN201911095448A CN110823182B CN 110823182 B CN110823182 B CN 110823182B CN 201911095448 A CN201911095448 A CN 201911095448A CN 110823182 B CN110823182 B CN 110823182B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
- G01C17/32—Electron compasses
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Abstract
The utility model provides an unmanned aerial vehicle danger zone stratum attitude measurement system and method, including: the lower end of the unmanned aerial vehicle body is provided with a plurality of telescopic mechanical arms, and the tail ends of the mechanical arms jointly bear a stratum attitude measuring box; the unmanned aerial vehicle body is provided with a distance measuring sensor for measuring the distance between the unmanned aerial vehicle body and a rock surface to be measured; the stratum attitude measuring box comprises a box body, and an electronic compass is arranged on at least part of the surface of the box body. The method can quickly measure the formation occurrence, acquire occurrence data, and has safety and high efficiency.
Description
Technical Field
The disclosure belongs to the field of geological measurement, and particularly relates to a system and a method for measuring stratum occurrence of an unmanned aerial vehicle danger zone.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Stratum attitude is one of the factors that survey personnel often need to measure in the field, but because of the complexity, the laboriousness and the uncertainty of the weather of the field geological environment, there are often slopes that some survey personnel have difficulty reaching or are dangerous after reaching. On the premise of guaranteeing the safety of the self-body, the method measures the occurrence of the stratums on the slopes to acquire corresponding geological data, and becomes a difficult problem for prospecting personnel. The occurrence measurement of rock formations which are difficult to directly measure, particularly the occurrence measurement of rock formations in dangerous zones, is always the key point of attack of scientific researchers.
According to the understanding of the inventor, the method for solving the problem of dangerous rock stratum attitude measurement provided by the existing scientific research personnel mainly utilizes an unmanned aerial vehicle to take a large number of pictures of corresponding side slopes and establishes a three-dimensional model so as to obtain side slope information. The method has the advantages of complicated process, time consumption, no pertinence and higher operation difficulty. If the influence of light is required to be considered during photographing, multiple photographing is often required for one point, and the requirement of later three-dimensional modeling on technicians is higher.
Disclosure of Invention
The utility model discloses in order to solve above-mentioned problem, provide an unmanned aerial vehicle danger zone stratum attitude measurement system and method, this disclosure can the rapid survey stratum attitude, acquires attitude data, has security and high efficiency concurrently.
According to some embodiments, the following technical scheme is adopted in the disclosure:
an unmanned aerial vehicle unsafe zone formation attitude measurement system, comprising: the system comprises an unmanned aerial vehicle body, wherein a plurality of telescopic mechanical arms are arranged at the lower end of the unmanned aerial vehicle body, the tail ends of the mechanical arms jointly bear a stratum attitude measuring box, and a stable supporting system is arranged on the unmanned aerial vehicle body;
the unmanned aerial vehicle body is provided with a distance measuring sensor for measuring the distance between the unmanned aerial vehicle body and a rock surface to be measured;
the stratum attitude measuring box comprises a box body, and an electronic compass is arranged on at least part of the surface of the box body.
As a further limitation, a camera and an ultrasonic distance measuring sensor are arranged on the unmanned aerial vehicle body, and the camera is arranged at the front end of the unmanned aerial vehicle body, so that an operator can observe the flying and landing conditions of the unmanned aerial vehicle conveniently; ultrasonic ranging sensor set up at unmanned aerial vehicle organism side, through measuring unmanned aerial vehicle apart from the stratum distance, provide the landing parameter for the operator.
By way of further limitation, the stabilizing support system comprises: the controller controls the corresponding telescopic pipe to stretch according to the detection value of the level sensor, so that the unmanned aerial vehicle body is kept horizontal; flexible supporting legs is connected to flexible pipe lower extreme, and flexible supporting legs is used for contacting ground, supports unmanned aerial vehicle.
As a further limitation, the flexible supporting legs are made of titanium alloy materials, and a rubber piece is additionally arranged at the tail end of the flexible supporting legs so as to reduce the vibration of the unmanned aerial vehicle during landing.
As a further limitation, the mechanical arms include four, set up respectively in the summit of the measurement case of the stratigraphic occurrence, the other end is connected on the unmanned aerial vehicle body.
As a further limitation, the formation attitude measuring box is in a cube shape, an electronic compass and a micro memory are arranged in the box, and the top surface and the side surface of the box are provided with display screens for respectively displaying the formation trend and the inclination angle.
An operating method based on the system comprises the following steps:
A. the camera and the ultrasonic ranging sensor assist in controlling the unmanned aerial vehicle to reach the stratum to be measured;
B. after the unmanned aerial vehicle arrives, the horizontal sensor controls the mechanical arm with the lower end provided with the flexible supporting leg to stretch out and draw back along a straight line so as to ensure that the unmanned aerial vehicle body keeps horizontal, and the stratum attitude measuring box is carried to be close to the stratum to be measured so as to measure the trend and the inclination of the stratum;
C. the measured data are stored.
As a further limitation, the mechanical arm carries the measuring box to be close to the measured stratum, so that one surface of the measuring box close to the stratum and a common edge of the bottom surface are tightly attached to the stratum, the electronic compass can measure the direction of the stratum, and the direction measuring data is displayed on the top surface display screen; after the stratum trend is measured, the mechanical arm controls the measuring box, so that the whole surface of the measuring box, which is close to the stratum, is tightly attached to the stratum, the electronic compass measures the stratum inclination angle, the inclination angle measurement data is displayed on a side display screen, and the stratum inclination is obtained through calculation.
Compared with the prior art, the beneficial effect of this disclosure is:
this openly carries out the attitude through unmanned aerial vehicle to high steep stratum or dangerous rock stratum and measures, safe and reliable has reduced the danger of field investigation. The stratum attitude is measured through the stratum attitude measuring box, pertinence, simplicity and rapidness are achieved, time and cost consumed by a traditional shooting modeling method are reduced, and operation difficulty is reduced.
The method adopts the electronic compass to measure the stratum attitude, is simple, reduces the operation difficulty and improves the efficiency. The requirement on the environment is low, the weather is suitable for most weathers, and the feasibility is high.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a schematic diagram of the working principle of the present disclosure;
FIG. 2 is a schematic illustration of the working principle of the formation attitude measurement box of the present disclosure;
FIG. 3 is a schematic diagram of the internal structure of the formation attitude measurement box of the present disclosure;
wherein, 1, the stratum to be detected; 2. an unmanned aerial vehicle; 3. a camera; 4. an ultrasonic ranging sensor; 5. a level sensor; 6. a controller; 7. a telescopic pipe; 8. flexible support legs; 9. a mechanical arm; 10. a formation attitude measurement box; 11. the near ground surface and the bottom surface share an edge; 12a, a top surface display screen; 12b, a side display screen; 13. an electronic compass; 14. a micro memory.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
An unmanned aerial vehicle danger zone stratum attitude measurement system, as shown in fig. 1, 2 and 3, comprises an unmanned aerial vehicle, an auxiliary landing system, a stable support system, an attitude measurement system and a data acquisition system.
Supplementary landing system, stable braced system, attitude measurement system and data acquisition system all set up on unmanned aerial vehicle 2.
The auxiliary landing system comprises a camera 3 and an ultrasonic ranging sensor 4; the camera 3 is arranged at the front end of the unmanned aerial vehicle 2 body, so that an operator can observe the flying and landing conditions of the unmanned aerial vehicle 2 conveniently; ultrasonic ranging sensor 4 sets up at 2 organism sides of unmanned aerial vehicle, through measuring 2 distances from the stratum 1 of unmanned aerial vehicle, provides the landing parameter for the operator.
The stabilizing support system includes: the unmanned aerial vehicle 2 comprises a horizontal sensor 5, a telescopic pipe 7 and flexible supporting feet 8, wherein the horizontal sensor 5 controls the telescopic pipe 7 to stretch, the lower end of the telescopic pipe 7 is connected with the flexible supporting feet 8, and the flexible supporting feet 8 are in contact with the ground to support the unmanned aerial vehicle 2; the controller 6 adjusts the telescopic pipe 6 to stretch along a straight line according to the level sensor 5, and the unmanned aerial vehicle 2 body is kept horizontal; the four extension tubes 7 are arranged and are regulated and controlled by the controller 6 according to the value of the level sensor 5, and the extension length of each extension tube 7 is different because the landing ground is usually uneven; flexible supporting legs 8 connect at flexible pipe 7 lower extreme, every flexible pipe 7 is connected with a flexible supporting legs 8, supporting legs 8 adopt titanium alloy material, a rubber spare is installed additional to the end to the vibrations to unmanned aerial vehicle 2 when alleviateing to land.
The attitude measuring system comprises a horizontal sensor 5, a controller 6, a mechanical arm 9 and a stratum attitude measuring box 10, wherein the controller 6 controls the mechanical arm 9 to stretch and rotate according to the horizontal sensor 5, and the lower end of the mechanical arm 9 carries the stratum attitude measuring box 10; the controller 6 controls the mechanical arm 9 to stretch and rotate according to the level sensor 5, so that the measuring box 10 carried at the lower end of the mechanical arm 9 can be kept horizontal; the four mechanical arms 9 are arranged, the upper ends of the mechanical arms are connected to the unmanned aerial vehicle 2 body, and the lower ends of the mechanical arms carry the measuring box 10 and can be telescopically rotated; the formation occurrence measuring box 10 is cubic, an electronic compass 13 and a micro memory 14 are arranged in the box, and display screens 12 are arranged on the upper top surface and the side surface and respectively display the formation trend and the inclination angle.
The working principle of the formation attitude measurement box 10 is as follows: the mechanical arm 9 carries the measuring box 10 to be close to the measured stratum 1, so that one surface of the measuring box 10 close to the stratum 1 and the edge 11 shared by the bottom surface are tightly attached to the stratum 1, the electronic compass 13 can measure the trend of the stratum, and the trend measuring data can be displayed on the top surface display screen 12 a; after the formation trend is measured, the mechanical arm 9 controls the measuring box 10, so that the whole surface of the measuring box 10 close to the formation 1 is tightly attached to the formation, the electronic compass 13 can measure the inclination angle of the formation, the inclination angle measurement data can be displayed on the side display screen 12b, and the formation tendency can be obtained through calculation.
The data acquisition system includes a micro-memory 14 that can acquire and store stabilized data after the formation attitude measurement is completed.
A use method of an unmanned aerial vehicle danger zone stratum attitude measurement system comprises the following steps:
A. the camera 3 and the ultrasonic ranging sensor 4 assist an operator to control the unmanned aerial vehicle 2 to reach the tested stratum 1;
B. after the unmanned aerial vehicle 2 arrives, four telescopic pipes 7 with flexible supporting legs 8 at the lower ends are controlled to stretch along straight lines according to the measured value of the horizontal sensor 5, so that the unmanned aerial vehicle 2 is ensured to be horizontal, and sufficient space is provided for subsequent work;
C. the four mechanical arms 9 carry a formation attitude measuring box 10 to be close to the tested stratum 1 under the regulation of the controller according to the horizontal sensor 5;
D. the mechanical arm 9 controls the formation attitude measuring box 10 to have a common edge 11 tightly attached to the formation 1, the electronic compass 13 measures the direction of the formation, and the top display screen 12a can display measured data;
E. the mechanical arm 9 controls the whole surface of the measuring box 10 close to the stratum to be tightly attached to the stratum 1, the electronic compass 13 measures the inclination angle of the stratum, and the side display screen 12b can display measured data;
F. the micro memory 14 collects and stores the measured data.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (6)
1. The utility model provides an unmanned aerial vehicle danger zone stratum attitude measurement system which characterized by: the method comprises the following steps: the system comprises an unmanned aerial vehicle body, wherein a plurality of telescopic mechanical arms are arranged at the lower end of the unmanned aerial vehicle body, the tail ends of the mechanical arms jointly bear a stratum attitude measuring box, and a stable supporting system is arranged on the unmanned aerial vehicle body; the four mechanical arms are respectively arranged at the top points of the stratum attitude measuring box, and the other end of each mechanical arm is connected to the unmanned aerial vehicle body;
the unmanned aerial vehicle body is provided with a camera and an ultrasonic ranging sensor;
the camera is arranged at the front end of the unmanned aerial vehicle body, so that an operator can observe the flying and landing conditions of the unmanned aerial vehicle conveniently; the ultrasonic ranging sensor is arranged at the side end of the unmanned aerial vehicle body and is used for providing landing parameters for an operator by measuring the distance between the unmanned aerial vehicle and the stratum;
the stratum attitude measuring box comprises a box body, and an electronic compass is arranged in the box body;
the stabilizing support system includes: the controller controls the corresponding telescopic pipe to stretch according to the detection value of the level sensor, so that the unmanned aerial vehicle body is kept horizontal; flexible supporting legs is connected to flexible pipe lower extreme, and flexible supporting legs is used for contacting ground, supports the unmanned aerial vehicle body.
2. The system of claim 1, wherein the system comprises: the flexible supporting legs are made of titanium alloy materials, and a rubber piece is additionally arranged at the tail end of the flexible supporting legs so as to reduce the vibration of the unmanned aerial vehicle during landing.
3. The system of claim 1, wherein the system comprises: the formation occurrence measuring box is cubic, an electronic compass and a micro memory are arranged in the formation occurrence measuring box, and display screens are arranged on the upper top surface and the side surfaces of the formation occurrence measuring box and are used for respectively displaying the formation trend and the inclination angle.
4. A method of operating a system as claimed in any one of claims 1 to 2, characterised by: the method comprises the following steps:
A. the camera and the ultrasonic ranging sensor assist in controlling the unmanned aerial vehicle to reach the stratum to be measured;
B. after the unmanned aerial vehicle arrives, the horizontal sensor controls the telescopic pipe with the lower end provided with the flexible supporting leg to stretch along a straight line so as to ensure that the unmanned aerial vehicle body keeps horizontal, and the stratum attitude measuring box is carried to be close to the stratum to be measured so as to measure the trend and the inclination of the stratum;
C. the measured data are stored.
5. A method of operating the system of claim 3, characterized by: the method comprises the following steps:
A. the camera and the ultrasonic ranging sensor assist in controlling the unmanned aerial vehicle to reach the stratum to be measured;
B. after the unmanned aerial vehicle arrives, the horizontal sensor controls the telescopic pipe with the lower end provided with the flexible supporting leg to stretch along a straight line so as to ensure that the unmanned aerial vehicle body keeps horizontal, and the stratum attitude measuring box is carried to be close to the stratum to be measured so as to measure the trend and the inclination of the stratum;
C. the measured data are stored.
6. The method of operation of claim 5, wherein: the mechanical arm carries the measuring box to be close to the measured stratum, so that one surface of the measuring box close to the stratum and a common edge of the bottom surface are tightly attached to the stratum, the electronic compass can measure the direction of the stratum, and the direction measuring data is displayed on the top surface display screen; after the stratum trend is measured, the mechanical arm controls the measuring box, so that the whole surface of the measuring box, which is close to the stratum, is tightly attached to the stratum, the electronic compass measures the stratum inclination angle, the inclination angle measurement data is displayed on a side display screen, and the stratum inclination is obtained through calculation.
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| CN111562134B (en) * | 2020-04-17 | 2022-03-22 | 山东大学 | Automatic sampling system for field rock and working method thereof |
| CN112525178B (en) * | 2020-12-11 | 2022-06-24 | 许岩炯 | Geological mineral exploration is with multi-functional geological compass |
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| CN207120893U (en) * | 2017-02-28 | 2018-03-20 | 田悦丰 | A kind of unmanned plane for mineral radioactivity prospecting |
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